CN115454089A - A vehicle longitudinal speed control method, device, vehicle and readable storage medium - Google Patents

Abstract

The present application relates to the technical field of vehicle control, and provides a vehicle longitudinal speed control method, device, vehicle and readable storage medium. The vehicle longitudinal speed control method obtains real-time attitude information of the vehicle and determines the swing information of the vehicle based on the real-time attitude information. Obtain the wheel vibration information of the vehicle, obtain the number of wheel rotations and driving distance of the vehicle, determine the slip rate of the vehicle based on the number of wheel rotations and driving distance, calculate the longitudinal speed of the vehicle based on the swing information, vibration information and slip rate, and control The vehicle travels at longitudinal speed. On the one hand, the application reduces vehicle loss and the possibility of vehicle damage, on the other hand, avoids or reduces the loss of traffic safety accidents, and improves the comfort and safety of passengers.

Description

A vehicle longitudinal speed control method, device, vehicle and readable storage medium

technical field

The present invention relates to the technical field of vehicle control, in particular to a vehicle longitudinal speed control method, device, vehicle and readable storage medium.

Background technique

The terrain in which the vehicle is driving is complex and the road conditions are changeable. For example, the vehicle may drive on muddy ground, concrete ground, and asphalt roads, and the vehicle directly contacts the ground through the tires. Therefore, the condition of the road surface directly affects Driving stability and driving safety of the vehicle. At present, the road conditions judged by the self-driving vehicles during driving may be different from the actual road conditions. When there is a large difference between the estimated road conditions and the actual road conditions, it will seriously affect the driving safety and comfort of the self-driving vehicles. , and may lead to vehicle traffic accidents.

Contents of the invention

The object of the present invention is to provide a vehicle longitudinal speed control method, device, vehicle and readable storage medium.

In a first aspect, the present invention provides a method for controlling vehicle longitudinal speed, the method comprising:

acquiring real-time attitude information of the vehicle, and determining swing information of the vehicle based on the real-time attitude information;

acquiring wheel vibration information of the vehicle;

Obtaining the number of wheel turns and the travel distance of the vehicle, and determining the slip ratio of the vehicle based on the number of wheel turns and the travel distance;

Calculate the longitudinal speed of the vehicle based on the swing information, the vibration information and the slip ratio, and control the vehicle to run according to the longitudinal speed.

In an optional embodiment, the real-time attitude information includes a pitch angle and a roll angle, and the determination of the swing information of the vehicle based on the real-time attitude information includes:

Deriving the pitch angle and the roll angle to obtain a corresponding pitch rate and roll rate;

The swing information is determined based on the pitch angle, the roll angle, the pitch rate, and the roll rate.

In an optional embodiment, the vehicle is provided with a plurality of gyro sensors, and the acquisition of wheel vibration information of the vehicle includes:

Detecting the amplitude and amplitude frequency of the corresponding wheels respectively through the plurality of gyroscope sensors;

The average value of the amplitude and the average frequency of all wheels are determined according to the amplitude and frequency of each wheel, and the wheel vibration information includes the average value of the amplitude and the average value of the frequency.

In an optional implementation manner, the longitudinal velocity is calculated by a longitudinal motion expression, and the longitudinal motion expression is:

OP=P+R*(Va+Vc+Vs)*v;

Wherein, OP is the longitudinal speed, R is the overall gain coefficient, P is the output speed of the preset longitudinal motion controller, v is the real-time speed of the vehicle, Va is the body swing coefficient of the vehicle, and Vc is the The wheel vibration coefficient of the vehicle, Vs is the slip coefficient of the vehicle, and the slip coefficient is obtained by calculating the slip ratio.

In an optional implementation manner, the vehicle body swing coefficient is calculated according to the swing information through a first preset formula, and the first preset formula is:

V _a =k*(k1*pitch+k2*roll+k3*pitch_dot+k4*roll_dot);

Among them, pitch is the pitch angle, roll is the roll angle, pitch_dot is the pitch angular velocity, roll_dot is the roll angular velocity, k1, k2, k3 and k4 are the pitch angle, the roll angle, the pitch angular velocity and the side The gain coefficient of the inclination velocity, k is the gain coefficient of the body longitudinal motion control.

In an optional implementation manner, the wheel vibration coefficient is calculated according to the wheel vibration information through a second preset formula, and the second preset formula is:

Vc=g*(g1*h+g2*w);

Wherein, h is the average value of the amplitude of the vehicle wheel, w is the average value of the amplitude frequency of the vehicle wheel, g is the total gain of the wheel longitudinal motion control, and g1 and g2 are the gain coefficients of the wheel swing size and wheel swing frequency, respectively.

In an optional embodiment, the value ranges of the vehicle body sway coefficient, the wheel vibration coefficient and the slip coefficient are all (-1, 0).

In a second aspect, the present invention provides a vehicle longitudinal speed control device, the device comprising:

A first acquisition module, configured to acquire real-time attitude information of the vehicle, and determine swing information of the vehicle based on the real-time attitude information;

A second acquisition module, configured to acquire wheel vibration information of the vehicle;

A third acquisition module, configured to acquire the number of wheel turns and the travel distance of the vehicle, and determine the slip ratio of the vehicle based on the number of wheel turns and the travel distance;

A determining module, configured to calculate the longitudinal speed of the vehicle based on the swing information, the vibration information and the slip ratio, and control the vehicle to travel according to the longitudinal speed.

In a third aspect, the present invention provides a vehicle, including a memory and a processor, the memory stores a computer program, and the computer program executes the vehicle longitudinal speed control method when running on the processor.

In a fourth aspect, the present invention provides a readable storage medium, which stores a computer program, and executes the vehicle longitudinal speed control method when the computer program runs on a processor.

The beneficial effects of the embodiments of the present invention are:

An embodiment of the present application provides a vehicle longitudinal speed control method. The vehicle longitudinal speed control method obtains the real-time attitude information of the vehicle, determines the swing information of the vehicle based on the real-time attitude information, obtains the wheel vibration information of the vehicle, and obtains the wheel rotation circle of the vehicle. Calculate the vehicle's slip rate based on the number of wheel rotations and the travel distance, calculate the vehicle's longitudinal speed based on the swing information, vibration information and slip rate, and control the vehicle to travel at the longitudinal speed. On the one hand, the application reduces vehicle loss and the possibility of vehicle damage, on the other hand, avoids or reduces the loss of traffic safety accidents, and improves the comfort and safety of passengers.

In order to make the above-mentioned purpose, features and advantages of the present application more comprehensible, preferred embodiments will be described in detail below together with the accompanying drawings.

Description of drawings

In order to illustrate the technical solution of the present invention more clearly, the following drawings will be briefly introduced in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as It is regarded as limiting the protection scope of the present invention. In the respective drawings, similar components are given similar reference numerals.

FIG. 1 shows a schematic flow chart of a vehicle longitudinal speed control method proposed in an embodiment of the present application;

Fig. 2 shows a schematic flow chart of determining wheel vibration information in a vehicle longitudinal speed control method proposed by an embodiment of the present application;

Fig. 3 shows a schematic structural diagram of a vehicle longitudinal speed control device proposed by an embodiment of the present application.

Description of main component symbols:

10 - vehicle longitudinal speed control device; 11 - first acquisition module; 12 - second acquisition module; 13 - third acquisition module; 14 - determination module.

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention.

The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts belong to the protection scope of the present invention.

Hereinafter, the terms "comprising", "having" and their cognates that may be used in various embodiments of the present invention are only intended to represent specific features, numbers, steps, operations, elements, components or combinations of the foregoing, And it should not be understood as first excluding the existence of one or more other features, numbers, steps, operations, elements, components or combinations of the foregoing or adding one or more features, numbers, steps, operations, elements, components or a combination of the foregoing possibilities.

In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions, and should not be construed as indicating or implying relative importance.

Unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the present invention belong. The terms (such as those defined in commonly used dictionaries) will be interpreted as having the same meaning as the contextual meaning in the relevant technical field and will not be interpreted as having an idealized meaning or an overly formal meaning, Unless clearly defined in various embodiments of the present invention.

It is understandable that the motion control of a vehicle is not only related to the complex environment on the ground, traffic regulations, and vehicle dynamics constraints, but also to the road surface conditions. In order to accurately predict the response of the vehicle to the excitation input of the road surface, it is first necessary to properly measure the road surface itself. At present, there are four commonly used measurement methods. The first is the classical measurement technology, which uses a level meter and a ruler to measure the road surface roughness. However, this The method is time-consuming and labor-intensive, and is not suitable for real-time systems such as self-driving cars; the second method is to use a road surface roughness measuring instrument for measurement. The road surface roughness measuring instrument is generally installed on the car body or trailer, and is measured by the driven wheel of the towing Road unevenness, this method needs to add a mechanical structure to the vehicle, and is not suitable for self-driving cars; the third method is to use a tilt measurement device to measure, that is, to use a two-wheeled car and a self-supporting gyroscope to measure non-uniform The unevenness of the road surface, this method will obviously increase the mechanical structure, and it is not suitable for the measurement of flat roads, and this scheme is not applicable; the fourth method is to use a non-contact road surface measurement device, that is, to measure the unevenness of the road surface by laser or ultrasonic waves Degree, and the measurement accuracy is high, but it will increase the components, which will increase the cost of the vehicle.

This application measures and estimates the unevenness of the road surface in a way that does not add obvious vehicle mechanical parts and does not increase the cost of large vehicle hardware, and responds to the road surface conditions, no matter on muddy ground, cement ground or asphalt. Adapt to all road conditions to control vehicle movement. The motion control of the vehicle is more in line with the actual road conditions, which not only increases the driving safety and comfort of the self-driving vehicle, but also reduces the wear and tear of the vehicle and the possibility of damage to a certain extent.

Example 1

Please refer to FIG. 1 , the embodiment of the present application proposes a method for controlling the longitudinal speed of a vehicle. Exemplarily, the method for controlling the longitudinal speed of a vehicle includes steps S100-S400.

Step S100: Obtain real-time attitude information of the vehicle, and determine vehicle swing information based on the real-time attitude information.

In the present application, the swing information includes a swing angle and an angular velocity, the swing angle includes a pitch angle and a roll angle, and the angular velocity includes a pitch angular velocity and a roll angular velocity. The vehicle will obtain the attitude and position of the vehicle in real time through the INS (Inertial Navigation System, inertial navigation system), that is, the real-time attitude information of the vehicle. The real-time attitude information includes information such as the pitch (pitch angle), yaw (yaw angle) and roll (roll angle) of the vehicle. If the positive direction of the x-axis is the forward direction of the vehicle, the pitch angle is the swing of the vehicle around the Y-axis of the body coordinates. , the roll angle is the swing angle of the vehicle around the x-axis of the car body coordinates, and the pitch angle and roll angle can best reflect the impact of the uneven road excitation on the vehicle, so the swing angle of the vehicle, that is, the pitch angle and roll angle, will be used to evaluate the swing degree of the vehicle body.

By calculating the derivative of the pitch angle and roll angle, the pitch angular velocity (pitch_dot) corresponding to the pitch angle and the roll angular velocity (roll_dot) corresponding to the roll angle will be obtained. Frequency index, in order to determine the driving stability of the vehicle. Therefore, the roll information will be determined from pitch angle, roll angle, pitch rate and roll rate.

Step S200: Obtain wheel vibration information of the vehicle.

It can be understood that the suspension of the vehicle has the functions of buffering, damping and torque transmission, which can alleviate most of the body swing, so that the estimated road conditions and the actual road conditions can be obtained through the swing information obtained by the INS, that is, the swing angle and angular velocity. The situation is different. Therefore, this application will also obtain the wheel vibration information of the vehicle, and evaluate the vibration of the vehicle chassis by the road surface response excitation according to the wheel vibration information, wherein the wheel vibration information includes the average value of the amplitude and frequency of multiple wheels of the vehicle .

In one implementation manner, as shown in FIG. 2 , step S200 includes substeps S210-S220.

Sub-step S210: respectively detecting the amplitude and amplitude frequency of the corresponding wheel through a plurality of gyro sensors.

In this application, a plurality of gyro sensors will be provided on the vehicle, and at least one gyro sensor will be provided on each wheel, for example, a corresponding gyro sensor may be provided on each of the four wheels of the vehicle. The amplitude and amplitude frequency of the corresponding wheels are detected by setting multiple gyro sensors on the vehicle.

Sub-step S220: Determine the average amplitude and average frequency of all wheels according to the amplitude and frequency of each wheel, and the wheel vibration information includes the average amplitude and average frequency.

After detecting the amplitude and frequency of each wheel, the average value of multiple amplitudes and multiple amplitude frequencies corresponding to all the wheels will be calculated, that is, the average value of the amplitude and the average value of the amplitude frequency will be calculated. The average value of the amplitude and the average value of the amplitude frequency are used as the basis for evaluating the condition of the road surface, so as to evaluate the impact of the road surface response excitation on the impact of the vehicle chassis.

Step 300: Obtain the number of wheel rotations and driving distance of the vehicle, and determine the slip rate of the vehicle based on the number of wheel rotations and driving distance.

It can be understood that, in addition to judging the road surface condition by the road surface roughness, the road surface condition will also be evaluated by the slip rate of the vehicle. In this application, the number of rotations of the wheels and the driving distance of the vehicle will be obtained through the sensor. Exemplarily, the number of rotations of the wheels when the vehicle is driving from the starting point to the current position can be read through the CAN line of the vehicle, or the number of rotations of the wheels can be obtained through the vehicle itself acquired by the sensor. For example, when the vehicle is equipped with ABS (antilock brake system, anti-lock braking system), the speed and number of rotations of the four wheels will be read in real time through the wheel speed sensor. Generally, the front wheel sensor is installed on the steering knuckle, and the rear wheel is installed on the steering knuckle. On the fixed support, the vehicle travel distance can be obtained by integrating the longitudinal velocity of the vehicle. In this application, the slip rate of the vehicle is calculated by the number of turns of the wheels of the vehicle and the actual driving distance of the vehicle.

When the road surface is in good condition, the number of turns of the wheel of the vehicle multiplied by the circumference of the wheel should be approximately equal to the distance traveled by the vehicle. The formula is: S≈n*l, where S is the actual distance traveled by the vehicle and n is the wheel The number of turns, l is the outer radius of the wheel, i.e. the circumference of the wheel. Calculate the slip rate of the vehicle through the corresponding slip rate calculation formula, the slip rate calculation formula is: F=s/(n*l), F is the ratio of the actual driving distance of the vehicle to the expected driving distance of the vehicle, that is, the vehicle’s slip rate.

Step 400: Calculate the longitudinal speed of the vehicle based on the swing information, vibration information and slip ratio, and control the vehicle to run according to the longitudinal speed.

It can be understood that after obtaining the swing information, vibration information and slip rate of the vehicle, the longitudinal velocity of the vehicle is calculated through the longitudinal expression according to the swing information, vibration information and slip rate, and the self-driving vehicle will be controlled according to the obtained Travel at longitudinal speed. A longitudinal motion controller will be provided in the self-driving vehicle. In this application, the longitudinal motion expression in the longitudinal motion controller of the vehicle is:

OP=P+R*(Va+Vc+Vs)*v;

Wherein, OP is the longitudinal speed output by the longitudinal motion controller, R is the total gain coefficient of Va, Vc and Vs, P is the output speed of the preset longitudinal motion controller, and the preset longitudinal motion controller includes but not limited to PID ( Proportional Integral Derivative) controller and mpc (model predictive control) controller, etc., v is the real-time speed of the vehicle, Va is the body swing coefficient of the vehicle, Vc is the wheel vibration coefficient of the vehicle, Vs is the slip coefficient of the vehicle, slip coefficient Calculated from the slip ratio. Wherein, the total gain coefficient R makes the value range of the longitudinal motion expression be (-1,0).

In this application, according to the swing information, the body swing coefficient of the vehicle is calculated through the first preset formula, and the first preset formula is:

V _a =k*(k1*pitch+k2*roll+k3*pitch_dot+k4*roll_dot);

Among them, k1, k2, k3 and k4 are pitch angle, roll angle, pitch angular velocity and roll angular velocity gain coefficients respectively, k is the body longitudinal motion control gain coefficient, pitch is pitch angle, roll is roll angle, and pitch_dot is pitch angular velocity , roll_dot is the roll angular velocity.

It can be understood that the first preset formula mainly considers the swing information of the vehicle, that is, the swing impact of the vehicle body and the swing frequency, that is, the impact of the swing angle and angular velocity on passengers. Generally, when the swing angle and swing frequency of the vehicle body are large, the vehicle speed needs to be reduced to reduce the impact of the swing impact of the vehicle body and the impact of the swing frequency on passengers. Therefore, the k coefficient is fixed as a negative number, k1, k2, k3 and k4 are usually is a positive value, the value range of the overall body swing coefficient Va should be (-1, 0).

In this application, the wheel vibration coefficient is calculated according to the wheel vibration information through the second preset formula, and the second preset formula is:

Vc=g*(g1*h+g2*w);

Among them, h is the average value of the amplitude of the vehicle wheel, w is the average value of the amplitude frequency of the vehicle wheel, g is the total gain of the wheel longitudinal motion control, g1 and g2 are the gain coefficients of the wheel swing size and wheel swing frequency, respectively. The second preset formula takes into account the impact of the road surface response excitation on the vehicle chassis. Usually, when the wheel swings up and down and the swing frequency is large, the impact on the vehicle chassis and the impact frequency will be reduced by reducing the vehicle speed. Therefore, g is fixed as a negative value, g1 and g2 are generally positive values, and the value range of the wheel vibration coefficient Vc is (-1, 0).

In this application, the slip coefficient is calculated by the third preset formula, and the third preset formula is:

Vs=j*(|1-F|);

Among them, j is the gain coefficient of the vehicle slip ratio. When the vehicle slips, the vehicle speed can be reduced to avoid or reduce the loss of traffic safety accidents. Therefore, j is a negative value, and the value range of the slip coefficient Vs is (-1, 0).

It can be seen that OP=P+R*(k*(k1*pitch+k2*roll+k3*pitch_dot+k4*roll_dot)+g*(g1*h+g2*w)+j*(|1-F |))*v; in other words, the longitudinal speed of the vehicle will be calculated by the vehicle's pitch angle, roll angle, pitch rate, roll rate, slip rate, average value of amplitude and average value of amplitude frequency.

It can be understood that the gain coefficients of the above parameters k, k1, k2, k3, k4, j, g, g1 and g2 can first build a simulation model according to the formula, and assign an initial value to the above gain coefficients, and obtain each gain coefficient through simulation. range of parameters, and then carry out actual debugging on the vehicle.

In this application, in response to real-time road conditions, no matter on muddy, cement or asphalt roads, it can adapt to all road conditions to control vehicle movement, not only considering the impact of vehicle body swing angle and swing frequency on passengers Influence, the impact of the swing impact of the wheel and the swing frequency on the vehicle chassis, also consider the impact of vehicle slippage on vehicle driving safety, so that the motion control of the vehicle is more in line with the actual road conditions. By controlling the speed of the vehicle, on the one hand, it reduces vehicle loss and The probability of possible damage to the vehicle, on the other hand, avoids or reduces the loss of traffic safety accidents, and improves the comfort and safety of passengers. Moreover, the present application utilizes the original sensors on the vehicle, and does not need to install additional sensors, thereby avoiding an increase in vehicle hardware costs.

Based on the vehicle longitudinal speed control method of the above embodiments, FIG. 3 shows a schematic structural diagram of a vehicle longitudinal speed control device 10 provided by an embodiment of the present application. The vehicle longitudinal speed control device 10 includes:

The first acquiring module 11 is used to acquire the real-time attitude information of the vehicle, and determine the swing information of the vehicle based on the real-time attitude information;

The second acquiring module 12 is used to acquire wheel vibration information of the vehicle;

The third acquisition module 13 is used to obtain the number of wheel rotations and the travel distance of the vehicle, and determine the slip rate of the vehicle based on the number of rotations of the wheels and the travel distance;

The determining module 14 is configured to calculate the longitudinal speed of the vehicle based on the swing information, the vibration information and the slip rate, and control the vehicle to run according to the longitudinal speed.

The vehicle longitudinal speed control device 10 of this embodiment is used to implement the vehicle longitudinal speed control method of the above-mentioned embodiments, and the implementation solutions and beneficial effects involved in the above-mentioned embodiments are also applicable to this embodiment, and will not be repeated here.

The embodiment of the present application also provides a vehicle, including a memory and a processor, the memory stores a computer program, and the computer program executes the above method for controlling the longitudinal speed of the vehicle when running on the processor.

The embodiment of the present application also provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed on a processor, implements the above-mentioned vehicle longitudinal speed control method.

In the several embodiments provided in this application, it should be understood that the disclosed devices and methods may also be implemented in other ways. The device embodiments described above are only illustrative. For example, the flowcharts and structural diagrams in the accompanying drawings show the possible implementation architecture and functions of devices, methods and computer program products according to multiple embodiments of the present invention. and operation. In this regard, each block in a flowchart or block diagram may represent a module, program segment, or part of code that includes one or more Executable instructions. It should also be noted that, in alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved. It is also to be noted that each block of the block diagrams and/or flow diagrams, and combinations of blocks in the block diagrams and/or flow diagrams, can be implemented by a dedicated hardware-based system that performs the specified function or action may be implemented, or may be implemented by a combination of special purpose hardware and computer instructions.

In addition, each functional module or unit in each embodiment of the present invention can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a smart phone, a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes. .

The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Anyone skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present invention. Should be covered within the protection scope of the present invention.

Claims (10)

1. A vehicle longitudinal speed control method, characterized in that the method comprises: acquiring real-time attitude information of the vehicle, and determining swing information of the vehicle based on the real-time attitude information; acquiring wheel vibration information of the vehicle; Obtaining the number of wheel turns and the travel distance of the vehicle, and determining the slip ratio of the vehicle based on the number of wheel turns and the travel distance; Calculate the longitudinal speed of the vehicle based on the swing information, the vibration information and the slip ratio, and control the vehicle to run according to the longitudinal speed. 2. The vehicle longitudinal speed control method according to claim 1, wherein the real-time attitude information includes a pitch angle and a roll angle, and determining the swing information of the vehicle based on the real-time attitude information comprises: Deriving the pitch angle and the roll angle to obtain a corresponding pitch rate and roll rate; The swing information is determined based on the pitch angle, the roll angle, the pitch rate, and the roll rate. 3. The vehicle longitudinal speed control method according to claim 1, wherein the vehicle is provided with a plurality of gyroscope sensors, and the acquisition of wheel vibration information of the vehicle comprises: Detecting the amplitude and amplitude frequency of the corresponding wheels respectively through the plurality of gyroscope sensors; The average value of the amplitude and the average frequency of all wheels are determined according to the amplitude and frequency of each wheel, and the wheel vibration information includes the average value of the amplitude and the average value of the frequency. 4. The vehicle longitudinal speed control method according to claim 1, wherein the longitudinal speed is calculated by a longitudinal motion expression, and the longitudinal motion expression is: OP=P+R*(Va+Vc+Vs)*v; Wherein, OP is the longitudinal speed, R is the overall gain coefficient, P is the output speed of the preset longitudinal motion controller, v is the real-time speed of the vehicle, Va is the body swing coefficient of the vehicle, and Vc is the The wheel vibration coefficient of the vehicle, Vs is the slip coefficient of the vehicle, and the slip coefficient is obtained by calculating the slip ratio. 5. The vehicle longitudinal speed control method according to claim 4, characterized in that, the vehicle body sway coefficient is calculated according to the sway information through a first preset formula, and the first preset formula is: V _a =k*(k1*pitch+k2*roll+k3*pitch_dot+k4*roll_dot); Among them, pitch is the pitch angle, roll is the roll angle, pitch_dot is the pitch angular velocity, roll_dot is the roll angular velocity, k1, k2, k3 and k4 are the pitch angle, the roll angle, the pitch angular velocity and the side The gain coefficient of the inclination velocity, k is the gain coefficient of the body longitudinal motion control. 6. The vehicle longitudinal speed control method according to claim 4, wherein the wheel vibration coefficient is calculated according to the wheel vibration information through a second preset formula, and the second preset formula is: Vc=g*(g1*h+g2*w); Wherein, h is the average value of the amplitude of the vehicle wheel, w is the average value of the amplitude frequency of the vehicle wheel, g is the total gain of the wheel longitudinal motion control, and g1 and g2 are the gain coefficients of the wheel swing size and wheel swing frequency, respectively. 7. The vehicle longitudinal speed control method according to claim 4, characterized in that, the value ranges of the vehicle body swing coefficient, the wheel vibration coefficient and the slip coefficient are all (-1, 0). 8. A vehicle longitudinal speed control device, characterized in that the device comprises: A first acquisition module, configured to acquire real-time attitude information of the vehicle, and determine swing information of the vehicle based on the real-time attitude information; A second acquisition module, configured to acquire wheel vibration information of the vehicle; A third acquisition module, configured to acquire the number of wheel turns and the travel distance of the vehicle, and determine the slip ratio of the vehicle based on the number of wheel turns and the travel distance; A determining module, configured to calculate the longitudinal speed of the vehicle based on the swing information, the vibration information and the slip ratio, and control the vehicle to travel according to the longitudinal speed. 9. A vehicle, characterized in that it comprises a memory and a processor, the memory stores a computer program, and when the computer program runs on the processor, it executes the vehicle longitudinal control according to any one of claims 1 to 7. speed control method. 10. A readable storage medium, characterized in that it stores a computer program, and the computer program executes the vehicle longitudinal speed control method according to any one of claims 1 to 7 when running on a processor.

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